This is now a longer thread than what it need to be. Yes, you can edit the video file to remove those sections relating to the images. Start witht he vob files that you have taken off the disc and put it in VideoWave timeline. You would then have to cut out the image and insert the image you want in that place. The problem is much more complex if you used any transitions between the images. Here is a short video showing how to simply cut out a section (image).
It is a long and tedious task. If you have only one or two images you want to replace, then be ready to spend hours to do it. If there are more, then be prepared to spend days or weeks.
It would be much less of a hassle to start from scratch even if you have to spend hours or days to get the original images.